This firmware filters the motor phase currents and makes the motor detection more stable and correct, and the motor is much more silent at startup and with more torque, compared to original VESC firmware.
See here the changes I did: https://github.com/casainho/bldc/tree/VESCs_fix_noisy_currents-firmware_6.02

Download the attached VESCs_fix_noisy_currents-firmware_6.02.zip. Inside you will find firmware for Makerbase and Flipsky VESCs models, like the Makerbase MKSESC_75_200_V2 or Flipsky 75_100_V2.

This firmware can be flashed with the VESC Tool 6.02.

Credit: changes by github user korjaa (https://github.com/korjaa/bldc/commits/noise_study). See discussion here: https://forum.esk8.news/t/how-to-update-firmware-on-the-flipsky-75100-75200-foc-esc/61819/318

Was tested on my Lunyee 72V 2000W dual phase motor, installed on a micro scooter Fiido Q1S, using a Makerbase MKSESC_75_200_V2 and a 72V battery - more info here.

Lunyee 72V 2000W dual phase motor

Fiido Q1S micro scooter with a Lunyee 72V 2000W dual phase motor installed on the rear wheel